我们从Python开源项目中，提取了以下24个代码示例，用于说明如何使用cv2.projectPoints()。
def rgb_callback(self,data): try: img = self.br.imgmsg_to_cv2(data, "bgr8") except CvBridgeError as e: print(e) gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY) # ret, corners = cv2.findChessboardCorners(gray, (x_num,y_num),None) ret, corners = cv2.findChessboardCorners(img, (x_num,y_num)) cv2.imshow('img',img) cv2.waitKey(5) if ret == True: cv2.cornerSubPix(gray,corners,(5,5),(-1,-1),criteria) tempimg = img.copy() cv2.drawChessboardCorners(tempimg, (x_num,y_num), corners,ret) # ret, rvec, tvec = cv2.solvePnP(objpoints, corners, mtx, dist, flags = cv2.CV_EPNP) rvec, tvec, inliers = cv2.solvePnPRansac(objpoints, corners, rgb_mtx, rgb_dist) print("rvecs:") print(rvec) print("tvecs:") print(tvec) # project 3D points to image plane imgpts, jac = cv2.projectPoints(axis, rvec, tvec, rgb_mtx, rgb_dist) imgpts = np.int32(imgpts).reshape(-1,2) cv2.line(tempimg, tuple(imgpts[0]), tuple(imgpts[1]),[255,0,0],4) #BGR cv2.line(tempimg, tuple(imgpts[0]), tuple(imgpts[2]),[0,255,0],4) cv2.line(tempimg, tuple(imgpts[0]), tuple(imgpts[3]),[0,0,255],4) cv2.imshow('img',tempimg) cv2.waitKey(5)
def drawBox(self, img): axis = np.float32([[0,0,0], [0,1,0], [1,1,0], [1,0,0], [0,0,-1],[0,1,-1],[1,1,-1],[1,0,-1] ]) imgpts, jac = cv2.projectPoints(axis, self.RVEC, self.TVEC, self.MTX, self.DIST) imgpts = np.int32(imgpts).reshape(-1,2) # draw pillars in blue color for i,j in zip(range(4),range(4,8)): img2 = cv2.line(img, tuple(imgpts[i]), tuple(imgpts[j]),(255,0,0),3) # draw top layer in red color outImg = cv2.drawContours(img2, [imgpts[4:]],-1,(0,0,255),3) return outImg # Debug Code.
def drawAxis(camera_parameters, markers, frame): axis = np.float32([[1,0,0], [0,1,0], [0,0,1]]).reshape(-1,3) mtx, dist = camera_parameters.camera_matrix, camera_parameters.dist_coeff for marker in markers: rvec, tvec = marker.rvec, marker.tvec imgpts, jac = cv2.projectPoints(axis, rvec, tvec, mtx, dist) corners = marker.corners corner = tuple(corners[0].ravel()) cv2.line(frame, corner, tuple(imgpts[0].ravel()), (0,0,255), 2) cv2.line(frame, corner, tuple(imgpts[1].ravel()), (0,255,0), 2) cv2.line(frame, corner, tuple(imgpts[2].ravel()), (255,0,0), 2) font = cv2.FONT_HERSHEY_SIMPLEX cv2.putText(frame, 'X', tuple(imgpts[0].ravel()), font, 0.5, (0,0,255), 2, cv2.LINE_AA) cv2.putText(frame, 'Y', tuple(imgpts[1].ravel()), font, 0.5, (0,255,0), 2, cv2.LINE_AA) cv2.putText(frame, 'Z', tuple(imgpts[2].ravel()), font, 0.5, (255,0,0), 2, cv2.LINE_AA)
def drawBox(camera_parameters, markers, frame): objpts = np.float32([[0,0,0], [1,0,0], [1,1,0], [0,1,0], [0,0,1], [1,0,1], [1,1,1], [0,1,1]]).reshape(-1,3) mtx, dist = camera_parameters.camera_matrix, camera_parameters.dist_coeff for marker in markers: rvec, tvec = marker.rvec, marker.tvec imgpts, jac = cv2.projectPoints(objpts, rvec, tvec, mtx, dist) cv2.line(frame, tuple(imgpts[0].ravel()), tuple(imgpts[1].ravel()), (0,0,255), 2) cv2.line(frame, tuple(imgpts[1].ravel()), tuple(imgpts[2].ravel()), (0,0,255), 2) cv2.line(frame, tuple(imgpts[2].ravel()), tuple(imgpts[3].ravel()), (0,0,255), 2) cv2.line(frame, tuple(imgpts[3].ravel()), tuple(imgpts[0].ravel()), (0,0,255), 2) cv2.line(frame, tuple(imgpts[0].ravel()), tuple(imgpts[0+4].ravel()), (0,0,255), 2) cv2.line(frame, tuple(imgpts[1].ravel()), tuple(imgpts[1+4].ravel()), (0,0,255), 2) cv2.line(frame, tuple(imgpts[2].ravel()), tuple(imgpts[2+4].ravel()), (0,0,255), 2) cv2.line(frame, tuple(imgpts[3].ravel()), tuple(imgpts[3+4].ravel()), (0,0,255), 2) cv2.line(frame, tuple(imgpts[0+4].ravel()), tuple(imgpts[1+4].ravel()), (0,0,255), 2) cv2.line(frame, tuple(imgpts[1+4].ravel()), tuple(imgpts[2+4].ravel()), (0,0,255), 2) cv2.line(frame, tuple(imgpts[2+4].ravel()), tuple(imgpts[3+4].ravel()), (0,0,255), 2) cv2.line(frame, tuple(imgpts[3+4].ravel()), tuple(imgpts[0+4].ravel()), (0,0,255), 2)
def project(self, X, check_bounds=False, check_depth=False, return_depth=False, min_depth=0.1): """ Project [Nx3] points onto 2-D image plane [Nx2] """ R, t = self.to_Rt() rvec,_ = cv2.Rodrigues(R) proj,_ = cv2.projectPoints(X, rvec, t, self.K, self.D) x = proj.reshape(-1,2) if check_depth: # Only return positive depths depths = self.depth_from_projection(X) valid = depths >= min_depth else: valid = np.ones(len(x), dtype=np.bool) if check_bounds: if self.shape is None: raise ValueError('check_bounds cannot proceed. Camera.shape is not set') # Only return points within-image bounds valid = np.bitwise_and( valid, np.bitwise_and( np.bitwise_and(x[:,0] >= 0, x[:,0] < self.shape[1]), \ np.bitwise_and(x[:,1] >= 0, x[:,1] < self.shape[0])) ) if return_depth: return x[valid], depths[valid] return x[valid]
def _map_monocular(self,p): if '3d' not in p['method']: return None gaze_point = np.array(p['circle_3d']['normal'] ) * self.gaze_distance + np.array( p['sphere']['center'] ) image_point, _ = cv2.projectPoints( np.array([gaze_point]) , self.rotation_vector, self.translation_vector , self.camera_matrix , self.dist_coefs ) image_point = image_point.reshape(-1,2) image_point = normalize( image_point[0], self.world_frame_size , flip_y = True) image_point = _clamp_norm_point(image_point) eye_center = self.toWorld(p['sphere']['center']) gaze_3d = self.toWorld(gaze_point) normal_3d = np.dot( self.rotation_matrix, np.array( p['circle_3d']['normal'] ) ) g = { 'topic':'gaze', 'norm_pos':image_point, 'eye_center_3d':eye_center.tolist(), 'gaze_normal_3d':normal_3d.tolist(), 'gaze_point_3d':gaze_3d.tolist(), 'confidence':p['confidence'], 'timestamp':p['timestamp'], 'base_data':[p]} if self.visualizer.window: self.gaze_pts_debug.append( gaze_3d ) self.sphere['center'] = eye_center #eye camera coordinates self.sphere['radius'] = p['sphere']['radius'] return g
def _map_monocular(self,p): if '3d' not in p['method']: return None p_id = p['id'] gaze_point = np.array(p['circle_3d']['normal'] ) * self.last_gaze_distance + np.array( p['sphere']['center'] ) image_point, _ = cv2.projectPoints( np.array([gaze_point]) , self.rotation_vectors[p_id], self.translation_vectors[p_id] , self.camera_matrix , self.dist_coefs ) image_point = image_point.reshape(-1,2) image_point = normalize( image_point[0], self.world_frame_size , flip_y = True) image_point = _clamp_norm_point(image_point) if p_id == 0: eye_center = self.eye0_to_World(p['sphere']['center']) gaze_3d = self.eye0_to_World(gaze_point) else: eye_center = self.eye1_to_World(p['sphere']['center']) gaze_3d = self.eye1_to_World(gaze_point) normal_3d = np.dot( self.rotation_matricies[p_id], np.array( p['circle_3d']['normal'] ) ) g = { 'topic':'gaze', 'norm_pos':image_point, 'eye_centers_3d':{p['id']:eye_center.tolist()}, 'gaze_normals_3d':{p['id']:normal_3d.tolist()}, 'gaze_point_3d':gaze_3d.tolist(), 'confidence':p['confidence'], 'timestamp':p['timestamp'], 'base_data':[p]} if self.visualizer.window: if p_id == 0: self.gaze_pts_debug0.append(gaze_3d) self.sphere0['center'] = eye_center self.sphere0['radius'] = p['sphere']['radius'] else: self.gaze_pts_debug1.append(gaze_3d) self.sphere1['center'] = eye_center self.sphere1['radius'] = p['sphere']['radius'] return g
def project_distort_pts(pts_xyz,camera_matrix, dist_coefs, rvec = np.array([0,0,0], dtype=np.float32), tvec = np.array([0,0,0], dtype=np.float32) ): # projectPoints is the inverse of function implemented above --> should map the intermediate result to the original input pts2d, _ = cv2.projectPoints(pts_xyz, rvec , tvec, camera_matrix, dist_coefs) return pts2d.reshape(-1,2)
def draw_quads(self, img, quads, color = (0, 255, 0)): img_quads = cv2.projectPoints(quads.reshape(-1, 3), self.rvec, self.tvec, self.K, self.dist_coef) [0] img_quads.shape = quads.shape[:2] + (2,) for q in img_quads: cv2.fillConvexPoly(img, np.int32(q*4), color, cv2.LINE_AA, shift=2)
def find_reprojection_error(self, i_usable_frame, object_points, intrinsics): rotation_vector = self.poses[i_usable_frame].rvec translation_vector = self.poses[i_usable_frame].tvec img_pts = self.image_points[i_usable_frame] est_pts = cv2.projectPoints(object_points, rotation_vector, translation_vector, intrinsics.intrinsic_mat, intrinsics.distortion_coeffs)[0] rms = math.sqrt(((img_pts - est_pts) ** 2).sum() / len(object_points)) return rms # TODO: passing in both frame_folder_path and save_image doesn't make sense. Make saving dependent on the former.
def draw3dCoordAxis(self, img=None, thickness=8): ''' draw the 3d coordinate axes into given image if image == False: create an empty image ''' if img is None: img = self.img elif img is False: img = np.zeros(shape=self.img.shape, dtype=self.img.dtype) else: img = imread(img) # project 3D points to image plane: # self.opts['obj_width_mm'], self.opts['obj_height_mm'] w, h = self.opts['new_size'] axis = np.float32([[0.5 * w, 0.5 * h, 0], [w, 0.5 * h, 0], [0.5 * w, h, 0], [0.5 * w, 0.5 * h, -0.5 * w]]) t, r = self.pose() imgpts = cv2.projectPoints(axis, r, t, self.opts['cameraMatrix'], self.opts['distCoeffs'])[0] mx = int(img.max()) origin = tuple(imgpts[0].ravel()) cv2.line(img, origin, tuple(imgpts[1].ravel()), (0, 0, mx), thickness) cv2.line(img, origin, tuple(imgpts[2].ravel()), (0, mx, 0), thickness) cv2.line( img, origin, tuple(imgpts[3].ravel()), (mx, 0, 0), thickness * 2) return img
def draw_quads(self, img, quads, color = (0, 255, 0)): img_quads = cv2.projectPoints(quads.reshape(-1, 3), self.rvec, self.tvec, self.K, self.dist_coef) [0] img_quads.shape = quads.shape[:2] + (2,) for q in img_quads: cv2.fillConvexPoly(img, np.int32(q*4), color, cv2.CV_AA, shift=2)
def project_xy(xy_coords, pvec): # get cubic polynomial coefficients given # # f(0) = 0, f'(0) = alpha # f(1) = 0, f'(1) = beta alpha, beta = tuple(pvec[CUBIC_IDX]) poly = np.array([ alpha + beta, -2*alpha - beta, alpha, 0]) xy_coords = xy_coords.reshape((-1, 2)) z_coords = np.polyval(poly, xy_coords[:, 0]) objpoints = np.hstack((xy_coords, z_coords.reshape((-1, 1)))) image_points, _ = cv2.projectPoints(objpoints, pvec[RVEC_IDX], pvec[TVEC_IDX], K, np.zeros(5)) return image_points
def ir_callback(self,data): try: gray = self.mkgray(data) except CvBridgeError as e: print(e) # ret, corners = cv2.findChessboardCorners(gray, (x_num,y_num),None) ret, corners = cv2.findChessboardCorners(gray, (x_num,y_num)) cv2.imshow('img',gray) cv2.waitKey(5) if ret == True: cv2.cornerSubPix(gray,corners,(5,5),(-1,-1),criteria) tempimg = gray.copy() cv2.drawChessboardCorners(tempimg, (x_num,y_num), corners,ret) # ret, rvec, tvec = cv2.solvePnP(objpoints, corners, mtx, dist, flags = cv2.CV_EPNP) rvec, tvec, inliers = cv2.solvePnPRansac(objpoints, corners, depth_mtx, depth_dist) print("rvecs:") print(rvec) print("tvecs:") print(tvec) # project 3D points to image plane imgpts, jac = cv2.projectPoints(axis, rvec, tvec, depth_mtx, depth_dist) imgpts = np.int32(imgpts).reshape(-1,2) cv2.line(tempimg, tuple(imgpts[0]), tuple(imgpts[1]),[255,0,0],4) #BGR cv2.line(tempimg, tuple(imgpts[0]), tuple(imgpts[2]),[0,255,0],4) cv2.line(tempimg, tuple(imgpts[0]), tuple(imgpts[3]),[0,0,255],4) cv2.imshow('img',tempimg) cv2.waitKey(5)
